Arizala, AsierAlonso, GorkaPérez, JoshuéZubizarreta, AsierMarques, LinoSantos, CristinaLima, José LuísTardioli, DaniloFerre, Manuel2024-08-202024-08-202024Arizala , A , Alonso , G , Pérez , J & Zubizarreta , A 2024 , Fuzzy Logic Based Decision-Making for Urban Platooning on Urban Roundabout Scenarios . in L Marques , C Santos , J L Lima , D Tardioli & M Ferre (eds) , Robot 2023 : 6th Iberian Robotics Conference Advances in Robotics, Volume 1 . Lecture Notes in Networks and Systems , vol. 976 LNNS , Springer Science and Business Media Deutschland GmbH , pp. 272-283 , 6th Iberian Robotics Conference, Robot 2023 , Coimbra , Portugal , 22/11/23 . https://doi.org/10.1007/978-3-031-58676-7_22conference97830315867502367-3370https://hdl.handle.net/11556/4763Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.This paper proposes a fuzzy-based decision-making framework for urban platooning in roundabout scenarios. By utilizing fuzzy logic to handle uncertainties and imprecise inputs, the framework adapts the behavior of platoon vehicles based on real-time traffic conditions, vehicle dynamics, and safety considerations. In addition, a MPC-based platoon following controller is proposed to execute the actions defined by the decision-making approach. This approach is tested in Carla simulator with successful results, proving the proposal is feasible for platoon handling in urban roundabouts.12enginfo:eu-repo/semantics/restrictedAccessconference output10.1007/978-3-031-58676-7_22controldecision-makingRoundaboutsUrban PlatooningControl and Systems EngineeringSignal ProcessingComputer Networks and Communicationshttp://www.scopus.com/inward/record.url?scp=85192867178&partnerID=8YFLogxK